FollowReference in Neptus

[Kristoffer Gryte]

Hi,

I've made a task in DUNE that generates a plan, consisting of a FollowPath and a FollowReference maneuver. Starting and viewing the plan from Neptus works fine (apart from the fact that there is a WP at a seemingly random location in the plan, but this is not critical). The problem is if I edit the plan in neptus, by e.g. adding a Goto after the FollowReference; then I get an error from PlanEngine saying that the plan contains a maneuver that is not supported. Upon further investigation, I found that this is because 

• the plan sent from neptus contains a Tele-operation maneuver instead of the FollowReference (this is true both for the modified plan and if I send the original (dune-generated) plan back to dune, but I'm able to start the original plan, since DUNE starts its local copy). 
  
• my vehicle (and all the other vehicles in vehicles-def) does not have FollowReference listed in <feasibleManeuvers>. 

Following https://groups.google.com/forum/#!searchin/lsts-toolchain/maneuver%7Csort:date/lsts-toolchain/bxhuXJjMqRM/0Jq6dT7CBAAJ (Thank you!) I get an idea of what is needed for a FollowRefernce maneuver, but FollowReference is such a normal maneuver that I would think that someone had (attempted) to make it already. Is there a reason why no one has made a FollowReference maneuver for Neptus? Are there any hacks I can do to get Neptus to "accept" the plan with the FollowReference? The only functionality I need is to add a Goto after the FollowReference, or to add a transition from the end of the plan (the FollowReference maneuver) to the start (the FollowPath).

For reference: On the DUNE side, I use the default FollowReference.UAV, and consume the DesiredPath in some custom PathController.

Appreciate any pointers!

Kristoffer

[Kristoffer Gryte]

Anyone?

[Tiago Sá Marques]

Hi

we're currently in the middle of a 2 week mission outside of office. It might take a while more for someone to be able to help you.

Best regards,

Tiago Marques

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[Kristoffer Gryte]

Appreciate the feedback :)

Best of luck in the experiments!

Kristoffer